Universal Robots UR10e PolyScope X User Manual page 60

4.5. General Purpose Digital I/O
Description
General purpose This section describes the general purpose 24V I/O (Gray terminals) and the
digital I/O configurable I/O (Yellow terminals with black text) when not configured as safety I/O.
The general purpose I/O can be used to drive equipment like pneumatic relays directly
or for communication with other PLC systems. All Digital Outputs can be disabled
automatically when program execution is stopped.
In this mode, the output is always low when a program is not running. Examples are
shown in the following subsections.
These examples use regular Digital Outputs but any configurable outputs could also
have be used if they are not configured to perform a safety function.
Communication You can use the digital I/O to communicate with other equipment if a common GND
with other (0V) is established and if the machine uses PNP technology, see below.
machines or
PLCs
UR10e PolyScope X
The Startup screen contains settings for automatically loading and starting a default
program, and for auto-initializing the Robot arm during power up.
Digital Outputs
0V 0V
DO0 DO4
0V 0V
DO1 DO5
0V 0V
DO2 DO6
0V 0V
DO3 DO7
In this example a load is controlled from a
Digital Outputs when connected.
Digital Inputs
24V
DI0
24V
DI1
24V
DI2
24V
DI3
24V
DI0
LOAD
24V
DI1
24V
DI2
24V
DI3
In this example a simple button is
connected to a Digital Input.
Digital Outputs Digital Inputs
24V 0V 0V 24V
A B
DI4 DO0 DO4 DI0
24V 0V 0V 24V
DI5 DO1 DO5 DI1
24V 0V 0V 24V
DI6 DO2 DO6 DI2
24V 0V 0V 24V
DI7 DO3 DO7 DI3
60
4. Electrical Interface
Digital Inputs
24V
DI4
24V
DI5
24V
DI6
24V
DI7
Digital Outputs
24V 0V 0V
DI4 DO0 DO4
24V 0V 0V
DI5 DO1 DO5
24V 0V 0V
DI6 DO2 DO6
24V 0V 0V
DI7 DO3 DO7
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